navigation stack tuning

[arm_ros_conn.git] / config / global_costmap_params.yaml

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 01a3c8feda3a0fe67e413d27c3ee6db180dc8b1e..483f9fa6141345b9e5c0d55071a0833aa2340c17 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -3,3 +3,7 @@ global_costmap:
   robot_base_frame: base_link
   update_frequency: 5.0
   static_map: true
+  plugins:
+  - {name: static_layer, type: 'costmap_2d::StaticLayer'}
+  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
+  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}